Robotically-driven surgical instrument with e-beam driver

Abstract

A surgical stapling instrument is disclosed. The surgical stapling instrument comprises an end effector attachable to an elongate shaft by an articulation joint. The surgical stapling instrument also comprises a longitudinally movable firing assembly comprising a firing bar and a firing member. The surgical stapling instrument further comprises a firing assembly lockout arrangement that is configured to engage a portion of the firing member to prevent distal advancement of the firing member unless an unfired staple cartridge is operably supported in the end effector. The surgical stapling instrument comprises means for applying a firing motion to the firing assembly to drive the firing member from a starting position to an ending position and means for applying a retraction motion to the firing assembly to return the firing member from the ending position to the starting position.

What is claimed: 
     
         1 . A surgical stapling instrument for use with a surgical robot, the surgical stapling instrument comprising:
 an end effector comprising first and second jaws movably supported relative to each other for selective movement between open and closed positions;   an elongate shaft defining a longitudinal axis and operably interfacing with said end effector;   a firing bar;   a firing driver, comprising:
 a vertically-extending body coupled to a distal end of said firing bar, said vertically-extending body including an upper end and a lower end; 
 an upper lateral cam laterally protruding from said upper end of said vertically-extending body; and 
 a bottom lateral cam laterally protruding from said lower end of said vertically-extending body; 
   a firing lockout configured to engage a lock shoulder of said firing driver to prevent distal advancement of said firing driver from a starting position to an ending position unless an unfired staple cartridge is operably supported in said end effector; and   a cable for applying a cable-driven firing motion to drive said firing driver from said starting position to said ending position and for applying a retraction motion to said firing driver to return said firing driver from said ending position to said starting position, wherein said cable is positioned within said elongate shaft, wherein said firing lockout comprises a lockout recess sized to receive said lock shoulder of said firing driver therein, and wherein said unfired staple cartridge comprises a sled positioned in a pre-fired position to permit the distal advancement of said firing driver.   
     
     
         2 . The surgical stapling instrument of  claim 1 , further comprising said unfired staple cartridge. 
     
     
         3 . The surgical stapling instrument of  claim 1 , wherein said one of said first and second jaws comprises a cartridge channel configured to receive the unfired staple cartridge therein. 
     
     
         4 . The surgical stapling instrument of  claim 1 , wherein said firing driver is movable distally during a clamping motion to move said first and second jaws into said closed position from said open position and movable distally during said cable-driven firing motion to deploy staples and cut tissue. 
     
     
         5 . The surgical stapling instrument of  claim 1 , further comprising a capstan mounted within elongate shaft. 
     
     
         6 . The surgical stapling instrument of  claim 1 , wherein said firing driver further comprises a knife edge. 
     
     
         7 . A surgical stapling instrument for use with a surgical robot, the surgical stapling instrument comprising:
 an end effector comprising first and second jaws, wherein said end effector is movable between open and closed positions;   an elongate shaft defining a longitudinal axis;   a firing bar;   a firing driver, comprising:
 a vertically-extending body coupled to a distal end of said firing bar, said vertically-extending body including an upper end and a lower end; 
 an upper lateral cam laterally protruding from said upper end of said vertically-extending body; and 
 a bottom lateral cam laterally protruding from said lower end of said vertically-extending body; 
   a motor-driven input that transfers a firing motion to said firing bar to drive said firing driver from a starting position to an ending position and a retraction motion to return said firing driver from said ending position to said starting position;   a cable operably coupling said motor-driven input and said firing bar, wherein said cable is positioned within said elongate shaft; and   a firing lockout configured to engage a lock shoulder of said firing driver to prevent the distal advancement of said firing driver from said starting position to said ending position unless an unfired staple cartridge is seated in said end effector, and wherein said unfired staple cartridge comprises a sled positioned in a pre-fired position to permit the distal advancement of said firing driver.   
     
     
         8 . The surgical stapling instrument of  claim 7 , further comprising said unfired staple cartridge. 
     
     
         9 . The surgical stapling instrument of  claim 7 , further comprising a cartridge channel configured to receive the unfired staple cartridge therein. 
     
     
         10 . The surgical stapling instrument of  claim 7 , wherein said firing driver is movable distally during a clamping motion to move said end effector into said closed position from said open position and movable distally during said firing motion to deploy staples and cut tissue. 
     
     
         11 . The surgical stapling instrument of  claim 7 , further comprising a capstan mounted within said elongate shaft. 
     
     
         12 . The surgical stapling instrument of  claim 7 , wherein said firing driver further comprises a knife edge. 
     
     
         13 . A surgical stapling instrument attachable to and detachable from a surgical robot, the surgical stapling instrument comprising:
 an attachment interface;   a shaft extending distally from said attachment interface;   an end effector extending distally from said shaft, wherein said end effector comprises:
 a first jaw; and 
 a second jaw movable relative to said first jaw to clamp tissue between said first jaw and said second jaw; 
   a firing driver movable distally through a clamping stroke and a firing stroke, wherein said firing driver comprises:
 a body; 
 a first cam configured to engage said first jaw; and 
 a second cam configured to engage said second jaw; 
   a motor-driven input that transfers a firing motion to said firing driver to move said firing driver from an unfired position to a fired position and a retraction motion to return said firing driver from the fired position;   a pulley operably coupling said motor-driven input and said firing driver; and   a firing lockout configured to engage a lock surface to prevent the distal advancement of said firing driver through the firing stroke unless an unfired staple cartridge is installed in said end effector.   
     
     
         14 . The surgical stapling instrument of  claim 13 , further comprising said unfired staple cartridge. 
     
     
         15 . The surgical stapling instrument of  claim 14 , wherein said unfired staple cartridge comprises a sled positioned in a pre-fired position to permit a distal advancement of the firing driver through the firing stroke. 
     
     
         16 . The surgical stapling instrument of  claim 13 , wherein said firing driver comprises said lock surface. 
     
     
         17 . The surgical stapling instrument of  claim 13 , further comprising a capstan mounted within said shaft. 
     
     
         18 . The surgical stapling instrument of  claim 13 , wherein said firing driver further comprises a knife edge.